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This paper compares pulsating- and rotating-vector carrier-signal injection for self-sensing (or sensorless) control of permanent-magnet synchronous machines (PMSMs). The main focus of this paper is the evaluation of estimation errors due to the physical nonideal attributes of both the machine and the inverter. Initial-position and magnet-polarity estimations are analyzed as well. Transient response and signal processing for both techniques are discussed for completeness. The theoretical analysis is supported by experimental and simulation evidence obtained using interior PMSMs.